include_directories(
        SYSTEM
        include
        ${PROJECT_SOURCE_DIR}/pos_generate
        ${PROJECT_SOURCE_DIR}/third_party
        ${PROJECT_SOURCE_DIR}/third_party/qpOASES/include
        ${PROJECT_SOURCE_DIR}/third_party/sdf_tools/include
)
link_directories(${PROJECT_SOURCE_DIR}/third_party/qpOASES/libs)
link_directories(${PROJECT_SOURCE_DIR}/third_party/sdf_tools/lib)

add_executable(btraj_node
        src/btraj_node.cpp
        src/map_generator.cpp
        src/corridor_generator.cpp
        src/bezier_base.cpp
        src/trajectory_generator.cpp
        ${PROJECT_SOURCE_DIR}/third_party/fast_methods/console/console.cpp
        ${PROJECT_SOURCE_DIR}/third_party/fast_methods/fm/fmdata/fmcell.cpp
        ${PROJECT_SOURCE_DIR}/third_party/fast_methods/ndgridmap/cell.cpp
        )

#此处添加对sdf_tools, qpOASES的依赖
### 注意 ###
#在x86平台编译的库(.so/.a)并不能在arm平台上使用   --(.so/.a)的安装方法: cmake ..   make     (make install)
#如果编译过程出现找不到xx库的提示，请先确定对应位置的库是x86还是arm平台
#再看CMakeLists.txt是否添加了对应的搜索路径
#比如link_directories(${PROJECT_SOURCE_DIR}/lib)
target_link_libraries(btraj_node
        ${catkin_LIBRARIES}
        sdf_tools
        ${PCL_LIBRARIES}
        #        mosek64
        ${OpenCV_LIBS}
        qpOASES
        )

add_executable(waypoint
        src/waypoint_msgs.cpp
        )

target_link_libraries(waypoint ${catkin_LIBRARIES} )